Fig. REF  represents the mapping performance of the proposed DP SLAM compared to [1]}.
In the case of the VA, Fig. REF  shows the average GOSPA of the VAs for the proposed method.
The GOSPA of the proposed method is higher than that of [1]} at the beginning, but both methods show similar VA estimation performance over time.
Fig. REF  shows the SPs' average GOSPA of both methods.
Because of the limited FoV of the vehicle, the SP is detected only at a specific time to the vehicle, and this shows that the SP GOSPA stepwise decreases with time.
In the end, from \(k\)  = 34, all SPs were detected, and GOSPA was finally reduced.
Compared with [1]}, as the detected SP increases, the SP estimation error is accumulated, and the difference in GOSPA increases gradually.
We confirmed the trade-off between computational complexity in mapping performance as state estimation performance.
